Allen-Bradley Kinetix 5100 2198-E1007-ERS Manuals

Manuals and User Guides for Allen-Bradley Kinetix 5100 2198-E1007-ERS. We have 1 Allen-Bradley Kinetix 5100 2198-E1007-ERS manual available for free PDF download: User Manual

Allen-Bradley Kinetix 5100 2198-E1007-ERS User Manual

Allen-Bradley Kinetix 5100 2198-E1007-ERS User Manual (501 pages)

Single-axis EtherNet/IP Servo Drives

Brand: Allen-Bradley | Category: Servo Drives | Size: 28.13 MB

Table of Contents

Important User Information
2
Table of Contents
3
Additional Resources
7
Conventions
7
Preface

7
Chapter 1 About the Kinetix 5100 Drive System

10
Chapter 2

21
Chapter 3

47
Chapter 4

72
Keypad Input and Panel Display

95
Chapter 5

96
- Drive Displays
  96
  - Real Time Data
    96
  - Real Time Data Display
    97
  - Real Time Display Symbols
    97
  - Drive Status Display
    99
  - Edit Network Settings
    101
- Edit Settings from the Display
  101
  - Edit Parameter Settings
    103
  - Parameter Status Display
    104
  - Reset the Drive Via Keypad
    105
  - 16-Bit and 32-Bit Display Formats
    106
  - Display Low Byte, High Byte, and Negative Values
    106
  - Diagnosis Parameters Via Keypad
    107
  - Display Fault Record
    107
  - Display Firmware Upgrade Information
    108
Chapter 6

109
Chapter 7

121
- Connect to the Drive
  121
- Set the IP Address
  122
  - Select a Motor and Configure Feedback in the Software
    123
  - Motor Feedback
    130
  - Run a Commutation Test
    132
- Parameter Editor
  135
  - Parameter Toolbar
    137
  - Parameter Wizard
    137
- Choose an Operation Mode
  138
- Configure Settings
  142
  - Configure the Command Source
    144
  - Command Source for Speed Mode
    145
  - Command Source for Torque Mode
    146
  - Configure Pulse Output
    147
  - Configure E-Gear Ratio
    148
  - Configure Filter
    149
  - Configure Notch Filter
    150
  - Configure Limits
    151
  - Configure Analog I/O
    152
  - Position and Speed Limit
    152
  - Torque Limit
    152
  - Position Mode (Terminal Block Input) Tab
    153
  - Output Monitor Tab
    154
  - Speed Input Tab
    154
  - Torque Input Tab
    154
- Configure Position, Velocity, and Current Loops
  155
- Digital I/O and Jog Function in KNX5100C Software
  158
  - Activate Signals Manually
    159
  - Edit DIO Configurations
    159
  - Jog Function
    160
  - Configure the Drive in Studio 5000 Logix Designer Application
    161
  - Install the Add-On Profile
    161
  - Version History
    161
Chapter 8

162
Chapter 9 Tuning Process

169
- Autotuning
  170
  - Filter and Resonance Suppression Parameters
    171
  - Gain-Related Parameters
    171
  - Autotuning Configuration Parameters
    172
  - Autotuningbandwidth Parameter Graph
    172
  - Autotuning Via the Drive Panel
    173
  - Autotuningovershoot Parameter
    173
  - Autotuning Via the Drive Panel Flowchart
    174
  - Autotuning Via KNX5100C Software
    175
  - Motion Command from Controller
    176
  - Motion Command from Drive
    178
  - Alarms Related to Autotuning
    180
  - Faults Related to Autotuning
    181
- Tuning Via Tuning Mode 1 and Tuning Mode 2
  181
  - Tuning Mode 1
    182
  - Tuning Mode Process
    182
  - Inertia Estimation
    183
  - Selecting Mode 1 Manual Tuning
    184
  - Tuning Mode 2
    184
  - Setting ID216 (P2.031) Sysgainresponselevel
    185
  - Settings for Sysgainresponselevel
    186
  - Tuning Mode 2 in the Software
    187
- Tuning in Manual Mode
  188
Chapter 10

191
- Mechanical Resonance Suppression
  191
- Selecting Manual Mode Tuning
  191
- Modes of Operation
  193
Select Operation Mode and Direction Control

193
- YX: Control Mode Setting
  194
- Position Control
  195
- Speed Mode
  210
  - Control Structure of Speed Mode
    212
  - Analog Speed Command Filter
    213
  - S-Curve Filter (Speed Mode)
    213
  - Low Pass Filter for Speed Command
    214
  - Scaling the Analog Command (Speed Mode)
    215
  - Speed Mode Timing
    215
  - Gain Adjustment of Speed Loop
    216
  - Manual Mode
    216
  - Resonance Suppression (Notch Filter)
    218
  - ZCLAMP Function
    221
- Torque Mode
  223
- Dual and Multi-Modes
  227
  - Speed/Position Dual Mode
    228
  - Speed/Torque Dual Mode
    229
  - Torque/Position Dual Mode
    229
- I/O Mode
  230
  - I/O Mode - Position
    236
  - I/O Mode - Home
    237
  - Homing Method Values
    238
  - The Control Structure of Home Mode
    238
  - The I/O Assembly Data for the Home Mode
    238
  - I/O Mode - Gear
    240
  - The Control Structure of Gear Mode
    240
  - The I/O Assembly Data for the Gear Mode
    240
  - I/O Mode - Index
    241
  - I/O Mode - Speed
    241
  - Enable or Disable the Limit Functions
    242
  - I/O Mode - Torque
    242
- Speed and Torque Limit Functions
  242
  - Apply Speed Limit
    243
  - Analog Monitoring
    244
  - Voltage Drift
    246
Detailed Operation in PR Mode

247
Chapter 11

256
- Homing
  256
- Speed Control Command
  267
- PR Mode Speed Screen
  268
- Position Control Command
  269
- Jump Command
  272
- Write Command
  273
- Index Position Command
  275
  - PR Mode Indexing Coordinates
    276
  - PR Mode Index Position Screen
    277
- Arithmetic Operations Commands
  278
  - PR Arithmetic Operations Screen
    279
  - PR Mode Setup in the Software
    279
  - Speed and Time Settings
    279
  - General Parameter Settings
    280
  - Speed/Time Setting Tab
    280
  - Homing Setting
    281
  - PR Mode Setting
    281
  - Index Coordinates Settings Wizard
    284
  - Arithmetic Operations in the Software
    285
  - Description of each Field in the Expressions Section
    286
  - Field Description for the Procedure Setting Section
    287
  - Procedure Section
    287
  - Statement Section
    287
  - Display of PR Procedure in the Software
    288
  - Parts of the PR Display
    288
  - Homing PR Display
    289
  - Speed Command PR Display
    290
  - Jump Command PR Display
    291
  - Position Command PR Display
    291
  - Write Command PR Display
    292
  - Index Position Command PR Display
    293
  - Arithmetic Operation PR Display
    294
  - Digital Input (DI) Trigger
    294
- Trigger Method for PR Commands
  294
- PR Execution Process
  300
  - Consecutive Position Commands
    301
  - Sequence Command Execution
    301
  - Consecutive Speed Commands
    302
  - Multiple Commands
    303
  - Command Interrupts Execution
    304
  - Sequence Command - Multiple Commands
    304
  - Internal and External Interruption
    305
  - Internal Interrupts
    305
  - Position Commands
    305
  - Internal Interruption - Position Command
    306
  - Speed Commands
    307
  - External Interrupts
    310
  - Overlap Command Execution
    312
  - Arithmetic Operation Command Execution
    313
  - High-Speed Capture Related Parameters
    315
High-Speed Position Capture Function (CAP)

315
Chapter 12

322
- High-Speed Position Compare Function (CMP)
  322
  - High-Speed Position Compare, Additional Information
    323
  - High Speed Position Compare Flowchart
    324
  - Using PR Command Programming with the Compare Function
    325
  - PR Command with Application of Compare Function
    326
  - Application Example of High-Speed Compare
    327
  - Data Array
    328
  - Read or Write Via Panel
    329
  - Set up Capture and Compare in the Software
    329
  - Capture or Compare User Interface
    330
  - High-Speed Capture Function
    331
  - High-Speed Compare Function
    331
  - Compare Data Array
    332
  - Data Array Editor
    332
- E-Cam
  333
  - E-Cam General Settings
    334
  - E-Cam Control Settings
    335
  - Master Axis Signal Source
    336
  - Digital Output Cam_Area Settings
    337
  - Digital Outputs of Clutch Engagement
    337
  - System Variables for Master Access Monitoring
    338
  - Pulse By-Pass Function - Motor Feedback (MFB) Connector
    339
  - Clutch Engagement and Disengagement
    340
  - Pulse By-Pass Function - I/O Connector
    340
  - Clutch Engagement Diagram
    341
  - Clutch Engagement Lead Pulses
    341
  - Condition for Clutch Disengagement
    341
  - Clutch Disengagement Diagram
    342
  - Immediate Stop after Disengagement
    342
  - Deceleration Stop after Clutch Disengagement
    343
  - Loop Mode after Disengagement
    343
  - E-Cam System State
    344
  - E-Cam Gear Ratio and Curve Scaling
    345
  - E-Cam Gear Ratio
    346
  - E-Cam Gear Ratio and Resolution
    347
  - E-Cam Alignment
    348
  - E-Cam Curve Scaling
    348
  - E-Cam Alignment Control Switch
    349
  - E-Cam Curve
    351
  - E-Cam Table Manual Creation
    353
  - Import Points
    353
  - Speed Fitting
    354
  - E-Cam Speed Fitting Table
    355
  - Cubic Curve
    356
  - Automatic Rotary Shear
    358
  - Rotary Shear - Without Sync Zone
    358
  - Rotary Shear - Fixed Sync Zone
    359
  - Rotary Shear - Adjustable Sync Zone
    361
  - Rotary Shear - Printing Machine
    363
  - Printing Machine Diagram
    364
  - E-Cam and PR Command Operation
    365
  - E-Cam Phase Correction
    366
  - E-Cam Troubleshooting
    366
- Macro Commands
  367
- Certification
  375
Chapter 13

377
Chapter 14

389
- Compatible Servo Motors
  389
System Requirements

389
- Install the Battery
  390
- Organization of Parameters
  403
  - Programming Via Drive Parameters
    403
  - Numeric/Decimal Parameters
    404
  - Parameters in Hexadecimal Format
    404
Chapter 15

405
Chapter 16

425
- Safety Precautions
  425
- Status Indicators
  425
  - Troubleshoot the Drive System
    425
  - CHARGE LED Status Indicators
    426
  - MOD LED Status Indicators
    426
  - NET LED Status Indicators
    426
  - Drive Fault Code Display
    427
  - Monitoring Status in KNX5100C Software
    427
- View Status and Faults
  427
  - Fault Information in the KNX5100C Software
    429
  - Fault and Status Information in Studio 5000 Application
    430
- Clear Faults
  431
- Drive Stopping Behavior
  431
- General Troubleshooting
  431
Interconnect Diagram Notes

435
Appendix A

436
- Power Wiring Examples
  436
- Digital I/O Wiring
  439
- Digital Output Wiring
  440
- Passive Shunt Wiring Example
  441
- Drives with Kinetix TLP-Axxx Servo Motors
  442
- Kinetix 5100 Drive/Rotary Motor Wiring Examples
  442
- Drives with Bulletin MPL-Axx, MPM-Axx, MPF-Axx, and MPS-Axx Motors
  443
- System Block Diagram
  444
- Upgrade the Drive Firmware
  445
Before You Begin

446
Appendix B

450
- Upgrade the Firmware
  450
- Verify the Firmware Upgrade
  454
- Use Add-On Instructions
  455
Appendix C

456
Download the Add-On Instruction Files and Data Types

456
- Import the Add-On Instruction Files and Data Types
  456
  - Add a New Program
    458
  - Add a New Routine
    458
- Create an Application
  458
- Add Add-On Instruction to Your Routine
  459
- Add-On Instruction Configuration
  459
  - Create the Add-On Instruction Tag
    459
  - Create the Ref_Axis Tag
    460
  - Configure the Add-On Instruction
    461
- Error Codes
  462
- Add-On Instruction Details
  464
- Full Closed Loop Control
  485
Full Closed-Loop Control

486
- Get Started
  489
- Use the Scope Function in the Software
  489
Appendix D

490
Appendix E

490
- Quick Setup of Communication Channels
  490
- Scope Functions
  490
- Select Communication Channels
  491
- Enable Stop Condition
  494
- FFT Display and Show RMS Value
  495
- Fine-Tune the Scope
  496
- Set Preferences
  497
- Use Popup Menu for Save Options
  498

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